Yildirim, Sahin: 'Bipedal-double-pendulum walking robot control using recurrent hybrid neural network' (Control, Robotics and Sensors, 2017), 'The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations', Chap. 11, pp. 263-282, DOI: 10.1049/PBCE111E_ch11 IET Digital Library, https://digital-library.theiet.org/;jsessionid=7hhpa189rtcet.x-iet-live-01content/books/10.1049/pbce111e_ch11